EP0788865A4 - Lead-through teaching permitting robot control apparatus - Google Patents

Lead-through teaching permitting robot control apparatus

Info

Publication number
EP0788865A4
EP0788865A4 EP96927901A EP96927901A EP0788865A4 EP 0788865 A4 EP0788865 A4 EP 0788865A4 EP 96927901 A EP96927901 A EP 96927901A EP 96927901 A EP96927901 A EP 96927901A EP 0788865 A4 EP0788865 A4 EP 0788865A4
Authority
EP
European Patent Office
Prior art keywords
teaching
lead
control apparatus
robot control
permitting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP96927901A
Other languages
German (de)
French (fr)
Other versions
EP0788865A1 (en
Inventor
Yoshiki Hashimoto
Yoshikiyo Tanabe
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP0788865A1 publication Critical patent/EP0788865A1/en
Publication of EP0788865A4 publication Critical patent/EP0788865A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36399—On excess error or on release joystick stop movement, dead man, shut off motors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36423—During teaching release brake or decouple clutch from motor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36428—During teaching set torque instruction for motor to zero
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39447—Dead man switch

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
EP96927901A 1995-08-25 1996-08-26 Lead-through teaching permitting robot control apparatus Withdrawn EP0788865A4 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP7239044A JPH0962334A (en) 1995-08-25 1995-08-25 Robot controller for safe execution of read-through teaching
JP239044/95 1995-08-25
PCT/JP1996/002379 WO1997007941A1 (en) 1995-08-25 1996-08-26 Lead-through teaching permitting robot control apparatus

Publications (2)

Publication Number Publication Date
EP0788865A1 EP0788865A1 (en) 1997-08-13
EP0788865A4 true EP0788865A4 (en) 1998-11-18

Family

ID=17039046

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96927901A Withdrawn EP0788865A4 (en) 1995-08-25 1996-08-26 Lead-through teaching permitting robot control apparatus

Country Status (4)

Country Link
US (1) US5783922A (en)
EP (1) EP0788865A4 (en)
JP (1) JPH0962334A (en)
WO (1) WO1997007941A1 (en)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3212546B2 (en) * 1997-08-25 2001-09-25 ファナック株式会社 Deadman switch mechanism for robot emergency stop and teaching operation panel
US6385508B1 (en) * 2000-10-31 2002-05-07 Fanuc Robotics North America, Inc. Lead-through teach handle assembly and method of teaching a robot assembly
JP4320556B2 (en) * 2003-04-02 2009-08-26 株式会社安川電機 Industrial robot controller
JP4516635B2 (en) * 2006-02-24 2010-08-04 富士通株式会社 Brake release device for robot
EP1857229B1 (en) * 2006-05-16 2009-07-15 Abb Ab A control system for an industrial robot
JP4508263B2 (en) * 2008-04-24 2010-07-21 トヨタ自動車株式会社 Power assist device and control method thereof
US20100188034A1 (en) * 2009-01-23 2010-07-29 Derek Young Trainable Robot and Method of Training
JP2011108044A (en) * 2009-11-18 2011-06-02 Fanuc Ltd Robot controller which simultaneously controls n robots
JP5180414B2 (en) * 2011-01-27 2013-04-10 パナソニック株式会社 Robot arm control device and control method, robot, robot arm control program, and integrated electronic circuit
US9566121B2 (en) 2013-03-15 2017-02-14 Stryker Corporation End effector of a surgical robotic manipulator
JP6100727B2 (en) * 2014-04-09 2017-03-22 ファナック株式会社 Human cooperative industrial robot with read-through function
DE102014207072A1 (en) * 2014-04-11 2015-10-15 Kuka Roboter Gmbh Method for operating a brake and associated machine, in particular robot
JP6630042B2 (en) * 2014-12-26 2020-01-15 川崎重工業株式会社 Dual arm robot teaching system and dual arm robot teaching method
TWI622865B (en) 2016-04-29 2018-05-01 財團法人工業技術研究院 Method and device for robot direct lead through teaching
JP6744790B2 (en) * 2016-09-06 2020-08-19 シャープ株式会社 Control system, control method, and control program
JP6450733B2 (en) * 2016-11-16 2019-01-09 ファナック株式会社 Safety switch device, operation terminal and machine control system
JP6514258B2 (en) * 2017-03-31 2019-05-15 ファナック株式会社 Robot system
JP2018176288A (en) 2017-04-03 2018-11-15 ファナック株式会社 Teaching device of robot
JP6824855B2 (en) 2017-09-29 2021-02-03 株式会社安川電機 Operation unit and robot
CN108205291B (en) * 2017-10-27 2020-10-23 北京精密机电控制设备研究所 Zero position on-line adjusting method of servo mechanism
DE102018200892A1 (en) 2018-01-19 2019-07-25 Kuka Deutschland Gmbh Delta robot with an input means
CN110405768A (en) * 2019-08-02 2019-11-05 叶永旺 A kind of source brake control system based on series connection six-shaft industrial robot
JP2021049643A (en) * 2021-01-08 2021-04-01 株式会社安川電機 Operation unit and robot

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0310958A1 (en) * 1987-10-02 1989-04-12 Hitachi, Ltd. Portable apparatus for teaching a robot or other automatic machines
US5212433A (en) * 1989-12-19 1993-05-18 Fanuc Ltd. Robot emergency stop circuit
US5389865A (en) * 1992-12-02 1995-02-14 Cybernet Systems Corporation Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5032975A (en) * 1987-08-07 1991-07-16 Canon Kabushiki Kaisha Controller for automatic assembling apparatus
JPS6487174A (en) * 1987-09-22 1989-03-31 Fanuc Ltd Controller for industrial robot
JPH0283185A (en) * 1988-09-16 1990-03-23 Fanuc Ltd Method and device for teaching industrial robot
JP3115297B2 (en) * 1989-10-09 2000-12-04 キヤノン株式会社 Control device for automatic equipment
US5629594A (en) * 1992-12-02 1997-05-13 Cybernet Systems Corporation Force feedback system
JPH0680587U (en) * 1993-04-27 1994-11-15 シチズン時計株式会社 Robot safety device
US5617515A (en) * 1994-07-11 1997-04-01 Dynetics, Inc. Method and apparatus for controlling and programming a robot or other moveable object
JP2933305B2 (en) * 1994-12-15 1999-08-09 ファナック株式会社 Teaching operation panel for robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0310958A1 (en) * 1987-10-02 1989-04-12 Hitachi, Ltd. Portable apparatus for teaching a robot or other automatic machines
US5212433A (en) * 1989-12-19 1993-05-18 Fanuc Ltd. Robot emergency stop circuit
US5389865A (en) * 1992-12-02 1995-02-14 Cybernet Systems Corporation Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO9707941A1 *

Also Published As

Publication number Publication date
JPH0962334A (en) 1997-03-07
EP0788865A1 (en) 1997-08-13
WO1997007941A1 (en) 1997-03-06
US5783922A (en) 1998-07-21

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Legal Events

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PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

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18D Application deemed to be withdrawn

Effective date: 20020226